华中科技大学学报（自然科学版）Issue(1)：81-86,6.DOI:10.13245/j.hust.160117
基于改进型 CKF 的 SINS 初始对准方法
Alignment method of initial SINS based on improved CKF
摘要
Abstract
To overcome the precision of alignment decreasing caused by an oscillatory base and large misalignment angles for autonomous underwater vehicle(AUV) by using traditional methods ,the nonlinear alignment model of SINS was established in the case of large misalignment angle ,and then an improved cubature Kalman filter (ICKF) was proposed .The filter adopted spherical simplex‐radial (SSR) rules to choose cubature points ,and the fading factor from strong tracking filter (STF) was added to the CKF .The Gauss‐Newton iterative algorithm was added to the proposed algorithm ,so the alignment precision of an oscillating base and large misalignment angles could be improved .Simu‐lation experiments show that the proposed method with high precision and strong robustness ,which means the precision decreasing and divergence caused by model uncertainty can be resolved ,and is more suitable for alignment .关键词
初始对准/强跟踪滤波器/非线性系统/球面最简相经(SSR)规则/容积卡尔曼滤波(CKF)Key words
initial alignment/strong tracking filter/nonlinear system/spherical simplex-radial (SSR) rule/cubature Kalman filter (CKF)分类
交通工程引用本文复制引用
徐晓苏,田泽鑫,刘义亭,邹海军..基于改进型 CKF 的 SINS 初始对准方法[J].华中科技大学学报（自然科学版）,2016,(1):81-86,6.基金项目
国家自然科学基金资助项目（51175082，60874092）． （）
